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Updates after testing

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- Spindle updates after changing $32 laser mode
- Fixed mistake where RPM could twice in stepper interrupt
- Added config_message to Laser
- Still needs more testing, but no known errors now.
This commit is contained in:
bdring
2020-04-05 11:27:09 -05:00
parent e4f073c9f7
commit 63401de45d
7 changed files with 51 additions and 32 deletions
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2
Grbl_Esp32/config.h
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@@ -451,7 +451,7 @@ Some features should not be changed. See notes below.
// enable pin will output 5V for maximum RPM with 256 intermediate levels and 0V when disabled.
// NOTE: IMPORTANT for Arduino Unos! When enabled, the Z-limit pin D11 and spindle enable pin D12 switch!
// The hardware PWM output on pin D11 is required for variable spindle output voltages.
#define VARIABLE_SPINDLE // Default enabled. Comment to disable.
#define VARIABLE_SPINDLE // Don't edit this for Grbl_ESP32
// Alters the behavior of the spindle enable pin. By default Grbl will not disable the enable pin if
// spindle speed is zero and M3/4 is active, but still sets the PWM output to zero. This allows the users

11
Grbl_Esp32/settings.cpp
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@@ -369,12 +369,11 @@ uint8_t settings_store_global_setting(uint8_t parameter, float value) {
case 30: settings.rpm_max = std::max(value, 1.0f); spindle_init(); break; // Re-initialize spindle rpm calibration (min of 1)
case 31: settings.rpm_min = value; spindle_init(); break; // Re-initialize spindle rpm calibration
case 32:
#ifdef VARIABLE_SPINDLE
if (int_value) settings.flags |= BITFLAG_LASER_MODE;
else settings.flags &= ~BITFLAG_LASER_MODE;
#else
return (STATUS_SETTING_DISABLED_LASER);
#endif
if (int_value)
settings.flags |= BITFLAG_LASER_MODE;
else
settings.flags &= ~BITFLAG_LASER_MODE;
spindle_init(); // update the spindle class
break;
case 33: settings.spindle_pwm_freq = value; spindle_init(); break; // Re-initialize spindle pwm calibration
case 34: settings.spindle_pwm_off_value = value; spindle_init(); break; // Re-initialize spindle pwm calibration

2
Grbl_Esp32/spindle_control.cpp
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@@ -28,7 +28,7 @@
int8_t spindle_pwm_chan_num;
// define a spindle type
DacSpindle my_spindle;
Laser my_spindle;
//NullSpindle my_spindle;
void spindle_init() {

2
Grbl_Esp32/spindle_control.h
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@@ -33,7 +33,7 @@
#define SPINDLE_STATE_CCW bit(1)
//extern uint32_t spindle_pwm_off_value;
extern DacSpindle my_spindle;
extern Laser my_spindle;
void spindle_init();
void spindle_stop();

26
Grbl_Esp32/stepper.cpp
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@@ -143,7 +143,7 @@ typedef struct {
float inv_rate; // Used by PWM laser mode to speed up segment calculations.
uint16_t current_spindle_pwm; // todo remove
//uint16_t current_spindle_pwm; // todo remove
float current_spindle_rpm;
} st_prep_t;
@@ -283,7 +283,9 @@ void IRAM_ATTR onStepperDriverTimer(void* para) { // ISR It is time to take a st
// Set real-time spindle output as segment is loaded, just prior to the first step.
//spindle_set_speed(st.exec_segment->spindle_rpm);
my_spindle.set_rpm(st.exec_segment->spindle_rpm);
//grbl_send(CLIENT_SERIAL, "A_");
my_spindle.set_rpm(prep.current_spindle_rpm);
} else {
// Segment buffer empty. Shutdown.
@@ -293,6 +295,7 @@ void IRAM_ATTR onStepperDriverTimer(void* para) { // ISR It is time to take a st
// Ensure pwm is set properly upon completion of rate-controlled motion.
if (st.exec_block->is_pwm_rate_adjusted) {
//spindle_set_speed(spindle_pwm_off_value);
//grbl_send(CLIENT_SERIAL, "B_");
my_spindle.set_rpm(0.0);
}
}
@@ -987,7 +990,14 @@ void st_prep_buffer() {
} else
prep.current_speed = sqrt(pl_block->entry_speed_sqr);
st_prep_block->is_pwm_rate_adjusted = my_spindle.isRateAdjusted();
//st_prep_block->is_pwm_rate_adjusted = my_spindle.isRateAdjusted();
if (my_spindle.isRateAdjusted() ){ // settings.flags & BITFLAG_LASER_MODE) {
if (pl_block->condition & PL_COND_FLAG_SPINDLE_CCW) {
// Pre-compute inverse programmed rate to speed up PWM updating per step segment.
prep.inv_rate = 1.0 / pl_block->programmed_rate;
st_prep_block->is_pwm_rate_adjusted = true;
}
}
}
/* ---------------------------------------------------------------------------------
@@ -1188,11 +1198,15 @@ void st_prep_buffer() {
if (pl_block->condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)) {
float rpm = pl_block->spindle_speed;
// NOTE: Feed and rapid overrides are independent of PWM value and do not alter laser power/rate.
if (st_prep_block->is_pwm_rate_adjusted)
if (st_prep_block->is_pwm_rate_adjusted) {
rpm *= (prep.current_speed * prep.inv_rate);
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "RPM %.2f", rpm);
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Rates CV %.2f IV %.2f RPM %.2f", prep.current_speed, prep.inv_rate, rpm);
}
// If current_speed is zero, then may need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE)
// but this would be instantaneous only and during a motion. May not matter at all.
prep.current_spindle_rpm = my_spindle.set_rpm(rpm);
// but this would be instantaneous only and during a motion. May not matter at all.
//prep.current_spindle_rpm = my_spindle.set_rpm(rpm);
prep.current_spindle_rpm = rpm;
} else {
sys.spindle_speed = 0.0;
prep.current_spindle_rpm = 0.0;

36
Grbl_Esp32/tools/SpindleClass.cpp
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@@ -2,11 +2,15 @@
SpindleClass.cpp
A Spindle Class
Spindle - A base class. Do not use
PWMSpindel - A spindle with a PWM output
RelaySpindle - An on/off only spindle
Laser - Output is PWM, but the M4 laser power mode can be used
DacSpindle - Uses the DAC to output a 0-3.3V output
Part of Grbl_ESP32
2020 - Bart Dring This file was modified for use on the ESP32
CPU. Do not use this with Grbl for atMega328P
2020 - Bart Dring
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@@ -19,17 +23,6 @@
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
/*
TODO
Testing
Should $G show actual speed (Regular Grbl does not)
Speed overrides only take place during motion
*/
#include "grbl.h"
#include "SpindleClass.h"
@@ -190,7 +183,7 @@ void PWMSpindle::set_pwm(uint32_t duty) {
#ifdef INVERT_SPINDLE_PWM
duty = (1 << SPINDLE_PWM_BIT_PRECISION) - duty;
#endif
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Set PWM %d of %d", duty, (1 << SPINDLE_PWM_BIT_PRECISION) - 1);
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Set PWM %d of %d", duty, (1 << SPINDLE_PWM_BIT_PRECISION) - 1);
ledcWrite(_spindle_pwm_chan_num, duty);
}
@@ -239,7 +232,7 @@ void RelaySpindle::set_pwm(uint32_t duty) {
}
// ====================== Laser =============================
// ===================================== Laser ==============================================
bool Laser :: isRateAdjusted() {
@@ -247,9 +240,20 @@ bool Laser :: isRateAdjusted() {
return (settings.flags & BITFLAG_LASER_MODE);
}
// ======================= DacSpindle =======================
void Laser :: config_message() {
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"Laser spindle on GPIO:%d, Freq:%.2fHz, Res:%dbits Laser mode:$32=%d",
SPINDLE_PWM_PIN,
_pwm_freq,
SPINDLE_PWM_BIT_PRECISION,
isRateAdjusted()); // the current mode
}
// ======================================== DacSpindle ======================================
void DacSpindle :: init() {
_pwm_period = ((1 << SPINDLE_PWM_BIT_PRECISION) - 1);
_dac_channel_num = (dac_channel_t)0;
_gpio_ok = true;
switch (SPINDLE_PWM_PIN) {
case GPIO_NUM_25:

4
Grbl_Esp32/tools/SpindleClass.h
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@@ -67,7 +67,7 @@ class PWMSpindle : public Spindle {
private:
int8_t _spindle_pwm_chan_num;
float _pwm_freq;
int32_t _current_pwm_duty;
@@ -83,6 +83,7 @@ class PWMSpindle : public Spindle {
void set_spindle_dir_pin(bool Clockwise);
protected:
float _pwm_freq;
uint32_t _pwm_period; // how many counts in 1 period
};
@@ -100,6 +101,7 @@ class RelaySpindle : public PWMSpindle {
class Laser : public PWMSpindle {
public:
bool isRateAdjusted();
void config_message();
};
// This uses one of the (2) DAC pins on ESP32 to output a voltage